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Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bartolini G., Punta E., Zolezzi T. Regular Simplex Method and Chattering Elimination for Nonlinear Sliding Mode Control of Uncertain Systems. In: 46th IEEE Conference on Decision and Control (New Orleans, LA (USA), 12-14 December 2007). Proceedings, pp. 2029 - 2034. IEEE, 2007.
 
 
Abstract
(English)
In this paper the simplex sliding mode control method is endowed with additional properties of practical as well as theoretical relevance. The method is extended to eliminate the chattering phenomenon. To this end an estimation procedure based on second order sliding mode algorithms is coupled with a simplex sliding mode control of an augmented order system driven by the time derivative of the actual control vector.
DOI: 10.1109/CDC.2007.4434482
Subject nonlinear control systems
observers
robust control
uncertain systems
variable structure systems


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